radar_tracks_msgs_converter.schema.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Radar Tracks Msgs Converter node",
  "type": "object",
  "definitions": {
    "radar_tracks_msgs_converter": {
      "type": "object",
      "properties": {
        "update_rate_hz": {
          "type": "number",
          "description": "The update rate [hz] of the output topic",
          "default": "20.0",
          "minimum": 0.0
        },
        "new_frame_id": {
          "type": "string",
          "description": "The header frame_id of the output topic",
          "default": "base_link"
        },
        "use_twist_compensation": {
          "type": "boolean",
          "description": "Flag to enable the linear compensation of ego vehicle's twist",
          "default": "false"
        },
        "use_twist_yaw_compensation": {
          "type": "boolean",
          "description": "Flag to enable the compensation of yaw rotation of ego vehicle's twist",
          "default": "false"
        },
        "static_object_speed_threshold": {
          "type": "number",
          "description": "Threshold to treat detected objects as static objects",
          "default": "1.0"
        }
      },
      "required": [
        "update_rate_hz",
        "new_frame_id",
        "use_twist_compensation",
        "use_twist_yaw_compensation",
        "static_object_speed_threshold"
      ]
    }
  },
  "properties": {
    "/**": {
      "type": "object",
      "properties": {
        "ros__parameters": {
          "$ref": "#/definitions/radar_tracks_msgs_converter"
        }
      },
      "required": ["ros__parameters"]
    }
  },
  "required": ["/**"]
}